Min-domain retroactive ordering for Asynchronous Backtracking

Ordering heuristics are a powerful tool in CSP search algorithms. Among the most successful ordering heuristics are heuristics which enforce a fail first strategy by using the Min-domain property (Haralick and Elliott, Artif Intel 14:263–313, 1980; Bessiere and Regin, Mac and combined heuristics: two reasons to forsake FC (and CBJ?) on hard problems. In Proc. CP 96, pp. 61–75, Cambridge, MA, 1996; Smith and Grant, Trying harder to fail first. In European Conference on Artificial Intelligence, pp. 249–253, 1998; Dechter, Constraint Processing. Morgan Kaufman, 2003). Ordering heuristics have been introduced recently to asynchronous backtracking (ABT), for distributed constraints satisfaction (DisCSP) (Zivan and Meisels, Dynamic ordering for asynchronous backtracking on discsps. In CP-2005, pp. 32–46, Sigtes (Barcelona), Spain, 2005). However, the pioneering study of dynamically ordered ABT, ABT_DO, has shown that a straightforward implementation of the Min-domain heuristic does not produce the expected improvement over a static ordering. The present paper proposes an asynchronous dynamic ordering which does not follow the standard restrictions on the position of reordered agents in ABT_DO. Agents can be moved to a position that is higher than that of the target of the backtrack. Combining the Nogood-triggered heuristic and the Min-domain property in this new class of heuristics results in the best performing version of ABT_DO. The new version of retroactively ordered ABT is faster by a large factor than the best form of ABT.     

Message delay and DisCSP search algorithms

Distributed constraint satisfaction problems (DisCSPs) are composed of agents, each holding its own variables, that are connected by constraints to variables of other agents. Due to the distributed nature of the problem, message delay can have unexpected effects on the behavior of distributed search algorithms on DisCSPs. This has been recently shown in experimental studies of asynchronous backtracking algorithms (Bejar et al., Artif. Intell., 161:117–148, 2005; Silaghi and Faltings, Artif. Intell., 161:25–54, 2005). To evaluate the impact of message delay on the run of DisCSP search algorithms, a model for distributed performance measures is presented. The model counts the number of non concurrent constraints checks, to arrive at a solution, as a non concurrent measure of distributed computation. A simpler version measures distributed computation cost by the non-concurrent number of steps of computation. An algorithm for computing these distributed measures of computational effort is described. The realization of the model for measuring performance of distributed search algorithms is a simulator which includes the cost of message delays. Two families of distributed search algorithms on DisCSPs are investigated. Algorithms that run a single search process, and multiple search processes algorithms. The two families of algorithms are described and associated with existing algorithms. The performance of three representative algorithms of these two families is measured on randomly generated instances of DisCSPs with delayed messages. The delay of messages is found to have a strong negative effect on single search process algorithms, whether synchronous or asynchronous. Multi search process algorithms, on the other hand, are affected very lightly by message delay.     

Concurrent search for distributed CSPs

A distributed concurrent search algorithm for distributed constraint satisfaction problems (DisCSPs) is presented. Concurrent search algorithms are composed of multiple search processes (SPs) that operate concurrently and scan non-intersecting parts of the global search space. Each SP is represented by a unique data structure, containing a current partial assignment (CPA), that is circulated among the different agents. Search processes are generated dynamically, started by the initializing agent, and by any number of agents during search.In the proposed, ConcDB, algorithm, all search processes perform dynamic backtracking. As a consequence of backjumping, a search space can be found unsolvable by a different search process. This enhances the efficiency of the ConcDB algorithm. Concurrent Dynamic Backtracking is an asynchronous distributed algorithm and is shown to be faster than former algorithms for solving DisCSPs. Experimental evaluation of ConcDB, on randomly generated DisCSPs demonstrates that the network load of ConcDB is similar to the network load of synchronous backtracking and is much lower than that of asynchronous backtracking. The advantage of Concurrent Search is more pronounced in the presence of imperfect communication, when messages are randomly delayed.     

Distributed constraint satisfaction with partially known constraints

Distributed constraint satisfaction problems (DisCSPs) are composed of agents connected by constraints. The standard model for DisCSP search algorithms uses messages containing assignments of agents. It assumes that constraints are checked by one of the two agents involved in a binary constraint, hence the constraint is fully known to both agents. This paper presents a new DisCSP model in which constraints are kept private and are only partially known to agents. In addition, value assignments can also be kept private to agents and not be circulated in messages. Two versions of a new asynchronous backtracking algorithm that work with partially known constraints (PKC) are presented. One is a two-phase asynchronous backtracking algorithm and the other uses only a single phase. Another new algorithm preserves the privacy of assignments by performing distributed forward-checking (DisFC). We propose to use entropy as quantitative measure for privacy. An extensive experimental evaluation demonstrates a trade-off between preserving privacy and the efficiency of search, among the different algorithms. Partially supported by the Spanish project TIN2006-15387-C03-01. Partially supported by the Lynn and William Frankel center for Computer Sciences and the Paul Ivanier Center for Robotics and Production Management.     

Nogood-based asynchronous forward checking algorithms

We propose two new algorithms for solving Distributed Constraint Satisfaction Problems (DisCSPs). The first algorithm, AFC-ng, is a nogood-based version of Asynchronous Forward Checking (AFC). Besides its use of nogoods as justification of value removals, AFC-ng allows simultaneous backtracks going from different agents to different destinations. The second algorithm, Asynchronous Forward Checking Tree (AFC-tree), is based on the AFC-ng algorithm and is performed on a pseudo-tree ordering of the constraint graph. AFC-tree runs simultaneous search processes in disjoint problem subtrees and exploits the parallelism inherent in the problem. We prove that AFC-ng and AFC-tree only need polynomial space. We compare the performance of these algorithms with other DisCSP algorithms on random DisCSPs and instances from real benchmarks: sensor networks and distributed meeting scheduling. Our experiments show that AFC-ng improves on AFC and that AFC-tree outperforms all compared algorithms, particularly on sparse problems.     

Dynamic Ordering for Asynchronous Backtracking on DisCSPs

An algorithm that performs asynchronous backtracking on distributed , with dynamic ordering of agents is proposed, . Agents propose reorderings of lower priority agents and send these proposals whenever they send assignment messages. Changes of ordering triggers a different computation of . The dynamic ordered asynchronous backtracking algorithm uses polynomial space, similarly to standard . The algorithm with three different ordering heuristics is compared to standard on randomly generated . A Nogood-triggered heuristic, inspired by dynamic backtracking, is found to outperform static order by a large factor in run-time and improve the network load.     

Experimental Evaluation of Agent-based Approaches to Solving Multi-mode Resource-Constrained Project Scheduling Problem

ABSTRACT

In this paper, a rank-based nonparametric statistical test for measuring the effect of cooperation between optimization agents solving the multi-mode resource-constrained project scheduling problem is presented. To solve this NP-hard optimization problem, different methods are applied including population- and agent-based approaches. One of them is a team of asynchronous agents composed of multiple optimization agents, management agents, and common memories, which through interactions produce solutions of hard optimization problems. Optimization agents represent different methods including local search, path relinking, or tabu search. Interactions are managed through various cooperation strategies based on applying heuristics, reinforcement learning, or population learning.     

The distributed constraint satisfaction problem: formalization andalgorithms

We develop a formalism called a distributed constraint satisfaction problem (distributed CSP) and algorithms for solving distributed CSPs. A distributed CSP is a constraint satisfaction problem in which variables and constraints are distributed among multiple agents. Various application problems in distributed artificial intelligence can be formalized as distributed CSPs. We present our newly developed technique called asynchronous backtracking that allows agents to act asynchronously and concurrently without any global control, while guaranteeing the completeness of the algorithm. Furthermore, we describe how the asynchronous backtracking algorithm can be modified into a more efficient algorithm called an asynchronous weak-commitment search, which can revise a bad decision without exhaustive search by changing the priority order of agents dynamically. The experimental results on various example problems show that the asynchronous weak-commitment search algorithm is, by far more, efficient than the asynchronous backtracking algorithm and can solve fairly large-scale problems     

How to Order Vertices for Distributed LTL Model-Checking Based on Accepting Predecessors

Distributed automata-based LTL model-checking relies on algorithms for finding accepting cycles in a Büchi automaton. The approach to distributed accepting cycle detection as presented in [L. Brim, I. Černá, P. Moravec, J. Šimša. Accepting Predecessors are Better than Back Edges in Distributed LTL Model-Checking. In Formal Methods in Computer-Aided Design (FMCAD'04), volume 3312 of LNCS, pages 352–366. Springer, 2004] is based on maximal accepting predecessors. The ordering of accepting states (hence the maximality) is one of the main factors affecting the overall complexity of model-checking as an imperfect ordering can enforce numerous re-explorations of the automaton. This paper addresses the problem of finding an optimal ordering, proves its hardness, and gives several heuristics for finding an optimal ordering in the distributed environment. We compare the heuristics both theoretically and experimentally to find out which of these work well.     

The Impact of Search Heuristics on Heavy-Tailed Behaviour

The heavy-tailed phenomenon that characterises the runtime distributions of backtrack search procedures has received considerable attention over the past few years. Some have conjectured that heavy-tailed behaviour is largely due to the characteristics of the algorithm used. Others have conjectured that problem structure is a significant contributor. In this paper we attempt to explore the former hypothesis, namely we study how variable and value ordering heuristics impact the heavy-tailedness of runtime distributions of backtrack search procedures. We demonstrate that heavy-tailed behaviour can be eliminated from particular classes of random problems by carefully selecting the search heuristics, even when using chronological backtrack search. We also show that combinations of good search heuristics can eliminate heavy tails from quasigroups with holes of order 10 and 20, and give some insights into why this is the case. These results motivate a more detailed analysis of the effects that variable and value orderings can have on heavy-tailedness. We show how combinations of variable and value ordering heuristics can result in a runtime distribution being inherently heavy-tailed. Specifically, we show that even if we were to use an oracle to refute insoluble subtrees optimally, for some combinations of heuristics we would still observe heavy-tailed behaviour. Finally, we study the distributions of refutation sizes found using different combinations of heuristics and gain some further insights into what characteristics tend to give rise to heavy-tailed behaviour.     

Optimal switch location in mobile communication networks using hybrid genetic algorithms

The optimal positioning of switches in a mobile communication network is an important task, which can save costs and improve the performance of the network. In this paper we propose a model for establishing which are the best nodes of the network for allocating the available switches, and several hybrid genetic algorithms to solve the problem. The proposed model is based on the so-called capacitated p-median problem, which have been previously tackled in the literature. This problem can be split in two subproblems: the selection of the best set of switches, and a terminal assignment problem to evaluate each selection of switches. The hybrid genetic algorithms for solving the problem are formed by a conventional genetic algorithm, with a restricted search, and several local search heuristics. In this work we also develop novel heuristics for solving the terminal assignment problem in a fast and accurate way. Finally, we show that our novel approaches, hybridized with the genetic algorithm, outperform existing algorithms in the literature for the p-median problem.     

Scheduling task graphs optimally with A*

Scheduling tasks onto the processors of a parallel system is a crucial part of program parallelisation. Due to the NP-hard nature of the task scheduling problem, scheduling algorithms are based on heuristics that try to produce good rather than optimal schedules. Nevertheless, in certain situations it is desirable to have optimal schedules, for example for time-critical systems or to evaluate scheduling heuristics. This paper investigates the task scheduling problem using the A* search algorithm which is a best-first state space search. The adaptation of the A* search algorithm for the task scheduling problem is referred to as the A* scheduling algorithm. The A* scheduling algorithm can produce optimal schedules in reasonable time for small to medium sized task graphs with several tens of nodes. In comparison to a previous approach, the here presented A* scheduling algorithm has a significantly reduced search space due to a much improved consistent and admissible cost function f(s) and additional pruning techniques. Experimental results show that the cost function and the various pruning techniques are very effective for the workload. Last but not least, the results show that the proposed A* scheduling algorithm significantly outperforms the previous approach.     

Optimal assignment of robot tasks with precedence for muliti-robot coordination by disjunctive graphs and state-space search

An approach to optimal assignment of tasks with precedence relationships to multiple robots is proposed. The robots are assumed to share a common workspace and work cooperatively to accomplish a given process plan consisting of a set of tasks. The optimal task assignment is defined to be the one that results in spending the least amount of time to complete the plan under the criterion that no robot collision will occur when the assigned tasks are performed. The ordering of the tasks in the process plan is described by a topological tree, which is then expanded to form a larger state-space tree without redundant tree paths. Each path in the expanded tree represents a partially developed assignment of the tasks to the robots, and a graph formulation scheme is presented for estimating the cost of the assignment. A collision-free motion schedule for each robot based on each task assignment can be obtained by finding the minimaximal path in a disjunctive graph formulated by the scheme. By using the A^* algorithm, a search method for finding the optimal assignment with the minimum cost is presented. Some heuristic rules are also proposed to speed up the search process. Simulation results are illustrated to show the effectiveness of the proposed approach. © 1995 John Wiley & Sons, Inc.     

A practical algorithm for making filled graphs minimal

For an arbitrary filled graph G⁺ of a given original graph G, we consider the problem of removing fill edges from G⁺ in order to obtain a graph M that is both a minimal filled graph of G and a subgraph of G⁺. For G⁺ with f fill edges and e original edges, we give a simple O(f(e+f)) algorithm which solves the problem and computes a corresponding minimal elimination ordering of G. We report on experiments with an implementation of our algorithm, where we test graphs G corresponding to some real sparse matrix applications and apply well-known and widely used ordering heuristics to find G⁺. Our findings show the amount of fill that is commonly removed by a minimalization for each of these heuristics, and also indicate that the runtime of our algorithm on these practical graphs is better than the presented worst-case bound.     

A3M: an agent architecture for automated manufacturing

This paper proposes a software architecture based on mobile agents for distributed process control applications. A set of agents is employed to handle, in a single manufacturing cell, automatic assignment of control tasks to controllers, monitoring of cell functionalities and dynamic cell reconfiguration. The agents operate in a two‐layered structure: at the highest level, the planning agents analyse the inputs of the system designer and automatically create the field agents, which operate at the lowest level and embed the control tasks to be executed. Field agents, which are mobile, are able to reach autonomously the controllers of the cell, in order to perform the control activity there. Exploiting the mobility enables a field agent to change its running device when the variation of the design parameters or a system fault requires a new task distribution. A load‐balancing algorithm is introduced, with the objective of assigning each field agent to a controller of the manufacturing cell in order to fairly distribute the computation load. The algorithm uses a branch‐and‐bound technique to explore all possible solutions and applies two heuristics to throw away non‐feasible solutions and select the best branch to analyse. The algorithm is designed to run on‐line in order to allow a fast task redistribution when a fault condition occurs in the process control environment. Copyright © 2008 John Wiley & Sons, Ltd.     

The Nonapproximability of OBDD Minimization

The size of ordered binary decision diagrams (OBDDs) is determined by the chosen variable ordering. A poor choice may cause an OBDD to be too large to fit into the available memory. The decision variant of the variable ordering problem is known to be NP-complete. We strengthen this result by showing that, unless P=NP, for each constant c>1 there is no polynomial time approximation algorithm with the performance ratio c for the variable ordering problem, i.e., no polynomial time algorithm that guarantees the computation of a variable ordering so that the resulting OBDD size is larger than the minimum size by a factor of at most c. This result justifies, also from a theoretical point of view, the use of heuristics for the variable ordering problem.     

An adaptive collect algorithm with applications

Summary. In a shared-memory distributed system, n independent asynchronous processes communicate by reading and writing to shared variables. An algorithm is adaptive (to total contention) if its step complexity depends only on the actual number, k, of active processes in the execution; this number is unknown in advance and may change in different executions of the algorithm. Adaptive algorithms are inherently wait-free, providing fault-tolerance in the presence of an arbitrary number of crash failures and different processes' speed. A wait-free adaptive collect algorithm with O(k) step complexity is presented, together with its applications in wait-free adaptive alg orithms for atomic snapshots, immediate snapshots and renaming. Received: August 1999 / Accepted: August 2001     

具有并行约束目标的多主体系统动态角色分配

多主体系统已成为建模和开发大型复杂分布式信息系统的一种理想范型.很多基于主体技术的系统要求支持动态角色分配,而已有动态角色分配算法忽略了目标之间的约束对角色分配的影响.首先,提出一个具有并行约束目标的多主体系统动态角色分配模型,引入多个角色分配管理者主体共同承担角色分配的计算任务,避免因单个主体可能造成的计算瓶颈.然后,基于并行约束目标结构图,给出目标集划分算法.并设计实现了角色分配算法,分析了该算法的时间复杂度.最后,实验研究了角色分配算法的执行时间,表明理论分析与实验结果一致.基于目标集合划分对角色分配的计算任务进行分割,使得各个角色分配管理者主体的计算结果无需进行合并再进行并行约束检查.     

A Probabilistic Algorithm for k -SAT Based on Limited Local Search and Restart

Abstract. A simple probabilistic algorithm for solving the NP-complete problem k -SAT is reconsidered. This algorithm follows a well-known local-search paradigm: randomly guess an initial assignment and then, guided by those clauses that are not satisfied, by successively choosing a random literal from such a clause and changing the corresponding truth value, try to find a satisfying assignment. Papadimitriou [11] introduced this random approach and applied it to the case of 2-SAT, obtaining an expected O(n ² ) time bound. The novelty here is to restart the algorithm after 3n unsuccessful steps of local search. The analysis shows that for any satisfiable k -CNF formula with n variables the expected number of repetitions until a satisfying assignment is found this way is (2⋅ (k-1)/ k) ⁿ . Thus, for 3-SAT the algorithm presented here has a complexity which is within a polynomial factor of (\frac 4 3 ) ⁿ . This is the fastest and also the simplest among those algorithms known up to date for 3-SAT achieving an o(2 ⁿ ) time bound. Also, the analysis is quite simple compared with other such algorithms considered before.